def __init__(self, standalone=False, detectorsource="kinect"):
self.vectorField = VectorField()
# if the obstacle avoider is run a standalone module,
# it will get the (scanned) obstacle matrix directly from the
# obstacle detector instead of from the memory
self.standalone = standalone
# initally don't use visualization.
# enable it with 'startVisualization();
self.visualize = 0
self.total_frames = 0
self.total_delay = 0
self.total_arch = 0
self.total_network = 0
self.total_local = 0
if standalone == True:
import vision.obstacledetector
if detectorsource != "kinect":
self.obstacleDetector = vision.obstacledetector.ObstacleDetector(
standalone=True, source='file', filepath=detectorsource)
else:
self.obstacleDetector = vision.obstacledetector.ObstacleDetector(
standalone=True, source='kinect')
else:
import memory
self.m = memory.Memory()
if self.visualize == 1:
self.startVisualization()
